EP1502843A3 - Véhicule sans pilote tout terrain - Google Patents

Véhicule sans pilote tout terrain Download PDF

Info

Publication number
EP1502843A3
EP1502843A3 EP04014422A EP04014422A EP1502843A3 EP 1502843 A3 EP1502843 A3 EP 1502843A3 EP 04014422 A EP04014422 A EP 04014422A EP 04014422 A EP04014422 A EP 04014422A EP 1502843 A3 EP1502843 A3 EP 1502843A3
Authority
EP
European Patent Office
Prior art keywords
offroad vehicle
unmanned special
unmanned
special
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP04014422A
Other languages
German (de)
English (en)
Other versions
EP1502843A2 (fr
Inventor
Detlev Eckhoff
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rheinmetall Landsysteme GmbH
Original Assignee
Rheinmetall Landsysteme GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rheinmetall Landsysteme GmbH filed Critical Rheinmetall Landsysteme GmbH
Publication of EP1502843A2 publication Critical patent/EP1502843A2/fr
Publication of EP1502843A3 publication Critical patent/EP1502843A3/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/02—Endless track vehicles with tracks and additional ground wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/1509—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/10—Independent suspensions
    • B60G2200/13—Independent suspensions with longitudinal arms only
    • B60G2200/132—Independent suspensions with longitudinal arms only with a single trailing arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/07—Off-road vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/40—Variable track or wheelbase vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/019—Inclination due to load distribution or road gradient
    • B60G2800/0194—Inclination due to load distribution or road gradient transversal with regard to vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/912—Attitude Control; levelling control

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
  • Manipulator (AREA)
EP04014422A 2003-07-31 2004-06-19 Véhicule sans pilote tout terrain Withdrawn EP1502843A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10334956 2003-07-31
DE2003134956 DE10334956B4 (de) 2003-07-31 2003-07-31 Fahrzeug

Publications (2)

Publication Number Publication Date
EP1502843A2 EP1502843A2 (fr) 2005-02-02
EP1502843A3 true EP1502843A3 (fr) 2009-04-22

Family

ID=33521500

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04014422A Withdrawn EP1502843A3 (fr) 2003-07-31 2004-06-19 Véhicule sans pilote tout terrain

Country Status (2)

Country Link
EP (1) EP1502843A3 (fr)
DE (1) DE10334956B4 (fr)

Families Citing this family (55)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008020861A1 (fr) * 2006-08-18 2008-02-21 Oshkosh Truck Corporation Véhicule modulaire métamorphosable
EP1924453A2 (fr) 2005-08-19 2008-05-28 Oshkosh Truck Corporation Véhicule métamorphique modulaire
US7654348B2 (en) 2006-10-06 2010-02-02 Irobot Corporation Maneuvering robotic vehicles having a positionable sensor head
CN100443351C (zh) * 2007-06-22 2008-12-17 北京理工大学 小型六履带全地形移动机器人
CN102393740B (zh) * 2011-08-01 2013-05-01 中国地质大学（武汉） 带视频采集自动避障功能的机器人
GB2494443B (en) 2011-09-09 2013-08-07 Dyson Technology Ltd Autonomous surface treating appliance
GB2494444B (en) * 2011-09-09 2013-12-25 Dyson Technology Ltd Drive arrangement for a mobile robot
CN102862615B (zh) * 2012-09-05 2014-10-29 西北工业大学 一种轮履可变换式底盘
DE102013006692B4 (de) * 2013-04-16 2020-10-01 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Universelles autonomes Fahrgestell zum Transport von Funktions- und Lastträgervorrichtungen
US9758980B2 (en) 2013-10-13 2017-09-12 Maytronics Ltd. System for extracting a pool cleaning robot
US10723571B2 (en) 2013-10-13 2020-07-28 Maytronics Ltd Pool cleaning robot having an interface
ES2540598B1 (es) * 2013-11-19 2016-04-20 Proytecsa Security, S.L. Vehículo robotizado telecomandado
IL230750B (en) 2014-01-30 2018-02-28 Wolf Yosi Propulsion system of a terrestrial robot
CN104875575A (zh) * 2014-03-19 2015-09-02 上海瀚创机器人技术有限公司 麦克纳姆轮agv独立悬架支撑机构
CN103935410B (zh) * 2014-04-22 2017-01-25 西南交通大学 一种基于轮毂电机的全方位转向越障车
JP6562615B2 (ja) * 2014-07-23 2019-08-21 三菱電機特機システム株式会社 クローラ式走行装置及び車椅子
CN106004724A (zh) * 2016-06-22 2016-10-12 上海晟骓汽车科技有限责任公司 一种集成化车辆智能底盘系统
CN106005067B (zh) * 2016-06-28 2018-07-10 吕志超 一种配电站消防智能机器人用可变行走装置
CN105966484B (zh) * 2016-06-28 2018-07-13 嵊州亿源投资管理有限公司 一种配电站消防智能机器人用可调式行走机构
DE102016112811A1 (de) * 2016-07-13 2018-02-15 Technische Universität Darmstadt Modulares Fahrzeugsystem zum Überwinden von Hindernissen und Verfahren zum Betreiben desselben
WO2018017051A1 (fr) * 2016-07-19 2018-01-25 Ford Global Technologies, Llc Dispositif de transport
CN106428633B (zh) * 2016-10-22 2018-09-18 哈工大机器人集团（广州）知识产权投资控股有限公司哈尔滨分公司 一种可探测月球地貌的行走机器人
CN107160963B (zh) * 2017-05-04 2020-08-21 大陆智源科技（北京）有限公司 轮式运动底盘
CN108860340A (zh) * 2017-05-10 2018-11-23 中国石油大学(北京) 轮履复合式全向移动机器人
CN107221044A (zh) * 2017-05-15 2017-09-29 成都牛之之牛智能科技有限公司 用于区域巡查的智能设备
ZA201801903B (en) * 2017-05-16 2019-01-30 George Karabo Tsatsi An unmanned vehicle
CN107139709A (zh) * 2017-05-31 2017-09-08 福州大学 一种通用轮式机器人
DE102017006071A1 (de) 2017-06-28 2019-01-03 Ruprecht Rohde Multifunktionsfahrzeug
CN109677504B (zh) * 2017-10-18 2020-09-01 宏碁股份有限公司 移动装置与移动系统
CN109693728A (zh) * 2017-10-23 2019-04-30 西北农林科技大学 一种用于田间监测的智能移动平台
CN108277742B (zh) * 2018-03-08 2024-05-28 湖北三六重工有限公司 大坡度爬坡行走机构
CN108638023A (zh) * 2018-07-25 2018-10-12 泉州摩科索达科技有限公司 一种移动式抓取机器人
CN109110001A (zh) * 2018-11-09 2019-01-01 洛阳圣瑞智能机器人有限公司 一种可自主收回的辅助车体越障的机构
CN109263756B (zh) * 2018-11-12 2019-10-15 河北工业大学 基于两个轮毂电机的全向轮式agv机器人及其运行方式
US11097583B2 (en) 2018-11-30 2021-08-24 Ruprecht Alfred Rohde Vehicle
US11548151B2 (en) 2019-04-12 2023-01-10 Boston Dynamics, Inc. Robotically negotiating stairs
CN110001816B (zh) * 2019-04-19 2021-06-11 南京涵铭置智能科技有限公司 一种贴地行走勘察车及其贴地方法
CN110155195B (zh) * 2019-05-30 2020-12-08 李志海 一种能适应多种路况的农田机器人
CN110466647B (zh) * 2019-09-10 2024-05-10 中国矿业大学 一种垃圾发电厂垃圾池渗沥液格栅板疏通机器人及工作方法
CN210555253U (zh) * 2019-10-17 2020-05-19 新石器慧通（北京）科技有限公司 一种无人安防车
US12094195B2 (en) 2020-04-20 2024-09-17 Boston Dynamics, Inc. Identifying stairs from footfalls
US12077229B2 (en) 2020-04-22 2024-09-03 Boston Dynamics, Inc. Stair tracking for modeled and perceived terrain
CN111806178B (zh) * 2020-06-03 2022-01-11 中国北方车辆研究所 一种具有伸缩摇臂悬架的四轮车越壕控制方法
CN111806177B (zh) * 2020-06-03 2021-12-24 中国北方车辆研究所 一种具有伸缩摇臂悬架的四轮车越障控制方法
CN112504063B (zh) * 2021-02-04 2021-05-11 湖南华诺星空电子技术有限公司 一种具备全地形适应能力的组网探测装置
US20230084587A1 (en) * 2021-09-16 2023-03-16 The Shyft Group, Inc. Cargo Transport System and Method
CN114176923B (zh) * 2021-12-31 2025-02-07 合肥工业大学 一种转运装置
DE102022104431A1 (de) 2022-02-24 2023-08-24 Rheinmetall Landsysteme Gmbh Geschütztes Fahrzeug und Verfahren
CN114537554B (zh) * 2022-03-07 2023-03-21 电子科技大学成都学院 一种煤矿安全探寻工具车
US20260001380A1 (en) * 2022-03-23 2026-01-01 Bae Systems Plc Suspension system
CN115339533A (zh) * 2022-09-21 2022-11-15 中煤科工集团重庆研究院有限公司 一种履带与轮式复合行驶装置
DE102023108856B3 (de) 2023-04-06 2024-09-05 charismaTec OG Fahrzeug
CN116697190B (zh) * 2023-08-08 2023-10-31 国网安徽省电力有限公司电力科学研究院 一种适用长支管道与主管道同步巡检的机器人及巡检方法
CN222920545U (zh) * 2024-07-15 2025-05-30 中交基础设施养护集团有限公司 一种烟道/小型隧道巡检机器人
CN121104979B (zh) * 2025-11-14 2026-03-17 吉林大学 一种行星表面移动采样机器人

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE959798C (de) * 1954-08-02 1957-03-14 Physique & Mecanique S A Fahrzeug mit kombiniertem Gleisketten-Rad-Antrieb
GB875691A (en) * 1957-07-16 1961-08-23 Ernst Meili Improvements in or relating to motor-driven vehicles
SU625960A1 (ru) * 1976-06-08 1978-09-30 Предприятие П/Я А-1697 Способ поворота одногусеничной машины с опорными поворотными колесами
FR2508391A2 (fr) * 1981-06-29 1982-12-31 Hildebrand Georges Vehicule automobile tout-terrain et amphibie
JPS60176871A (ja) * 1984-02-24 1985-09-10 Toshiba Corp ロボツトの走行装置
US4687068A (en) * 1983-01-25 1987-08-18 Australian Transcenders International Pty. Ltd. Invalid's wheelchair and like conveyances
JPH0597069A (ja) * 1991-10-08 1993-04-20 Osaka Gas Co Ltd クローラ式走行車
JPH07257442A (ja) * 1994-03-17 1995-10-09 Nikon Corp 走行装置
WO2002028677A1 (fr) * 2000-10-03 2002-04-11 Ian James Spark Vehicule tout terrain
WO2004012981A1 (fr) * 2002-07-17 2004-02-12 United Defense Lp Vehicule hybride a roues et a chenille

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL229465A (fr) * 1957-07-16
DE1958029U (de) * 1966-11-26 1967-03-30 Erhard Wieger Auf gleisketten verfahrbarer bagger, kran od. dgl.
DE4005356A1 (de) * 1990-02-16 1991-08-22 Noell Gmbh Fahrzeug mit allradantrieb
DE4005357A1 (de) * 1990-02-16 1991-08-22 Noell Gmbh Fahrzeug mit mehreren bewegungsantrieben
US6857490B2 (en) * 2001-12-11 2005-02-22 Robert T. Quigg Stair-climbing wheelchair

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE959798C (de) * 1954-08-02 1957-03-14 Physique & Mecanique S A Fahrzeug mit kombiniertem Gleisketten-Rad-Antrieb
GB875691A (en) * 1957-07-16 1961-08-23 Ernst Meili Improvements in or relating to motor-driven vehicles
SU625960A1 (ru) * 1976-06-08 1978-09-30 Предприятие П/Я А-1697 Способ поворота одногусеничной машины с опорными поворотными колесами
FR2508391A2 (fr) * 1981-06-29 1982-12-31 Hildebrand Georges Vehicule automobile tout-terrain et amphibie
US4687068A (en) * 1983-01-25 1987-08-18 Australian Transcenders International Pty. Ltd. Invalid's wheelchair and like conveyances
JPS60176871A (ja) * 1984-02-24 1985-09-10 Toshiba Corp ロボツトの走行装置
JPH0597069A (ja) * 1991-10-08 1993-04-20 Osaka Gas Co Ltd クローラ式走行車
JPH07257442A (ja) * 1994-03-17 1995-10-09 Nikon Corp 走行装置
WO2002028677A1 (fr) * 2000-10-03 2002-04-11 Ian James Spark Vehicule tout terrain
WO2004012981A1 (fr) * 2002-07-17 2004-02-12 United Defense Lp Vehicule hybride a roues et a chenille

Also Published As

Publication number Publication date
EP1502843A2 (fr) 2005-02-02
DE10334956B4 (de) 2014-10-02
DE10334956A1 (de) 2005-03-03

Similar Documents

Publication Publication Date Title
US7249640B2 (en) Highly mobile robots that run and jump
US9637186B1 (en) Dual mode vehicle
CN1041606C (zh) 行走机器人
US6488110B2 (en) Vehicle drive system
CA2491581A1 (fr) Chenille complete
EP1466775A3 (fr) Dispositif et méthode de commande de force d'entraînement pour véhicule
DK585387A (da) Hjultrolje
EP1842769A3 (fr) Bicyclette
HK1000163A1 (en) Driven trolley for suspension from and travel on a rail
EP1433647A3 (fr) Transmission hydraulique à quatre roues motrices
EP0800977A3 (fr) Dispositif de transport comprenant des moyens motorisés pour grimper des escaliers
ATE311339T1 (de) Lenkgetriebe eines ladefahrzeugs
FR2856727B1 (fr) Vehicule porteur pour machine de foration ou de boulonnage
US6767272B2 (en) Hopping mechanism for model car
EP1627762A3 (fr) Tracteur agricole
ATE409130T1 (de) Aufhängungssystem für ein fahrzeug
ATE189020T1 (de) System zum transportieren von mindestens zwei brückenteilen durch ein fahrzeug zur überwindung von gräben und system zum ablegen dieser teile über die gräben durch das fahrzeug
DE602006004086D1 (de) Lenkachse
CN206734436U (zh) 一种机器人的行走装置
JPH09263273A (ja) 走行装置
US6394877B1 (en) Bed lifting mechanism for model truck
US20050155798A1 (en) Vehicle having auxiliary driving device
JP2803172B2 (ja) 農作業機
CN102385390B (zh) 自走搬运车
BRPI0410104A (pt) veìculo para todo terreno com elementos ambulatórios

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL HR LT LV MK

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: RHEINMETALL LANDSYSTEME GMBH

RIC1 Information provided on ipc code assigned before grant

Ipc: B25J 5/00 20060101ALI20080811BHEP

Ipc: B62D 7/15 20060101ALI20080811BHEP

Ipc: B62D 11/24 20060101ALI20080811BHEP

Ipc: B62D 55/04 20060101AFI20041020BHEP

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL HR LT LV MK

17P Request for examination filed

Effective date: 20090811

AKX Designation fees paid

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PL PT RO SE SI SK TR

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN WITHDRAWN

17Q First examination report despatched

Effective date: 20101123

18W Application withdrawn

Effective date: 20101203